Wind field estimation for autonomous dynamic soaring

Jacob Willem Langelaan, John Spletzer, Corey Montella, Joachim Grenestedt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Citations (Scopus)

Abstract

A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is used, allowing implementation of a linear Kalman filter for parameter estimation. Results of Monte Carlo simulations show the effectiveness of the approach. In addition, in-flight measurements of wind speeds are compared with data obtained from video tracking of balloon launches to assess the accuracy of wind field estimates obtained using commercial autopilot modules.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages16-22
Number of pages7
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

Fingerprint

Parameter estimation
Balloons
Parameterization
Kalman filters
Polynomials
Air
Monte Carlo simulation

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Langelaan, J. W., Spletzer, J., Montella, C., & Grenestedt, J. (2012). Wind field estimation for autonomous dynamic soaring. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 16-22). [6224954] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224954
Langelaan, Jacob Willem ; Spletzer, John ; Montella, Corey ; Grenestedt, Joachim. / Wind field estimation for autonomous dynamic soaring. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 16-22 (Proceedings - IEEE International Conference on Robotics and Automation).
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Langelaan, JW, Spletzer, J, Montella, C & Grenestedt, J 2012, Wind field estimation for autonomous dynamic soaring. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224954, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 16-22, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224954

Wind field estimation for autonomous dynamic soaring. / Langelaan, Jacob Willem; Spletzer, John; Montella, Corey; Grenestedt, Joachim.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 16-22 6224954 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is used, allowing implementation of a linear Kalman filter for parameter estimation. Results of Monte Carlo simulations show the effectiveness of the approach. In addition, in-flight measurements of wind speeds are compared with data obtained from video tracking of balloon launches to assess the accuracy of wind field estimates obtained using commercial autopilot modules.

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Langelaan JW, Spletzer J, Montella C, Grenestedt J. Wind field estimation for autonomous dynamic soaring. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 16-22. 6224954. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2012.6224954